PID Experiments Dashboard

SO-101 Robot | 20 experiments | 4 families (P, PD, PI, PID) | Random gains [0, 300] | 15s per experiment

P Proportional only (Ki=0, Kd=0) — Steady-state error, no damping
JointKpKiKd
Shoulder Pan231.00.00.0
Shoulder Lift274.10.00.0
Elbow Flex96.60.00.0
Wrist Flex82.40.00.0
Wrist Roll187.30.00.0
P_1
JointKpKiKd
Shoulder Pan41.30.00.0
Shoulder Lift172.40.00.0
Elbow Flex84.60.00.0
Wrist Flex134.30.00.0
Wrist Roll185.90.00.0
P_2
JointKpKiKd
Shoulder Pan192.20.00.0
Shoulder Lift116.90.00.0
Elbow Flex234.20.00.0
Wrist Flex136.60.00.0
Wrist Roll244.80.00.0
P_3
JointKpKiKd
Shoulder Pan280.60.00.0
Shoulder Lift136.30.00.0
Elbow Flex106.70.00.0
Wrist Flex259.70.00.0
Wrist Roll124.30.00.0
P_4
JointKpKiKd
Shoulder Pan160.80.00.0
Shoulder Lift184.90.00.0
Elbow Flex265.40.00.0
Wrist Flex34.60.00.0
Wrist Roll238.50.00.0
P_5
PD Proportional + Derivative (Ki=0) — Damping, steady-state error remains
JointKpKiKd
Shoulder Pan103.60.0264.4
Shoulder Lift6.40.014.8
Elbow Flex127.80.0288.9
Wrist Flex219.50.0132.6
Wrist Roll294.10.09.8
PD_1
JointKpKiKd
Shoulder Pan165.10.0202.6
Shoulder Lift119.60.0198.8
Elbow Flex3.60.0256.2
Wrist Flex48.10.013.2
Wrist Roll280.90.0129.8
PD_2
JointKpKiKd
Shoulder Pan95.00.047.9
Shoulder Lift44.60.0270.1
Elbow Flex277.10.0197.5
Wrist Flex76.70.0175.5
Wrist Roll277.90.050.8
PD_3
JointKpKiKd
Shoulder Pan199.60.0254.3
Shoulder Lift128.80.0214.5
Elbow Flex26.50.0264.4
Wrist Flex244.00.0184.1
Wrist Roll253.90.0257.1
PD_4
JointKpKiKd
Shoulder Pan145.50.0293.6
Shoulder Lift203.50.046.4
Elbow Flex285.30.0213.3
Wrist Flex160.80.083.8
Wrist Roll134.70.0262.5
PD_5
PI Proportional + Integral (Kd=0) — Eliminates SS error, may oscillate
JointKpKiKd
Shoulder Pan239.9178.60.0
Shoulder Lift46.671.70.0
Elbow Flex118.059.50.0
Wrist Flex172.8270.60.0
Wrist Roll38.7166.90.0
PI_1
JointKpKiKd
Shoulder Pan139.2231.20.0
Shoulder Lift26.4150.60.0
Elbow Flex252.6219.30.0
Wrist Flex132.2273.70.0
Wrist Roll39.739.40.0
PI_2
JointKpKiKd
Shoulder Pan223.438.80.0
Shoulder Lift130.7106.50.0
Elbow Flex32.7287.20.0
Wrist Flex0.670.30.0
Wrist Roll187.959.70.0
PI_3
JointKpKiKd
Shoulder Pan145.973.70.0
Shoulder Lift285.6214.20.0
Elbow Flex96.841.50.0
Wrist Flex170.944.70.0
Wrist Roll163.5235.60.0
PI_4
JointKpKiKd
Shoulder Pan229.7192.30.0
Shoulder Lift287.3136.60.0
Elbow Flex200.8205.60.0
Wrist Flex91.6111.50.0
Wrist Roll178.8241.50.0
PI_5
PID Full PID — Eliminates SS error with damping
JointKpKiKd
Shoulder Pan172.3155.7121.1
Shoulder Lift227.5209.7247.3
Elbow Flex135.682.994.2
Wrist Flex67.0153.1166.2
Wrist Roll43.0205.1264.9
PID_1
JointKpKiKd
Shoulder Pan283.838.0173.8
Shoulder Lift68.993.5134.5
Elbow Flex14.5113.4208.5
Wrist Flex232.059.7262.6
Wrist Roll88.2210.3292.8
PID_2
JointKpKiKd
Shoulder Pan161.881.8287.0
Shoulder Lift206.3254.6260.6
Elbow Flex256.1254.9256.1
Wrist Flex169.5171.1137.2
Wrist Roll168.0133.66.9
PID_3
JointKpKiKd
Shoulder Pan195.0131.956.9
Shoulder Lift208.4164.653.9
Elbow Flex255.8224.5299.8
Wrist Flex268.565.9291.3
Wrist Roll258.6131.8198.3
PID_4
JointKpKiKd
Shoulder Pan142.7293.7222.1
Shoulder Lift197.5292.4201.7
Elbow Flex193.4294.9299.4
Wrist Flex32.442.91.6
Wrist Roll84.7230.4171.4
PID_5